From e06c2cfacc4fceade0b9e416e79812954b4727ff Mon Sep 17 00:00:00 2001 From: Jing Dong Date: Fri, 18 Jul 2014 15:59:14 -0400 Subject: [PATCH] change few function parameters to const reference to improve preformance of TransformBtwRobot factors --- gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h | 4 ++-- gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h index c3564a748..9ec3e8e10 100644 --- a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h +++ b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactor.h @@ -68,7 +68,7 @@ namespace gtsam { /** Constructor */ TransformBtwRobotsUnaryFactor(Key key, const VALUE& measured, Key keyA, Key keyB, - const gtsam::Values valA, const gtsam::Values valB, + const gtsam::Values& valA, const gtsam::Values& valB, const SharedGaussian& model) : Base(cref_list_of<1>(key)), key_(key), measured_(measured), keyA_(keyA), keyB_(keyB), model_(model){ @@ -111,7 +111,7 @@ namespace gtsam { /** implement functions needed to derive from Factor */ /* ************************************************************************* */ - void setValAValB(const gtsam::Values valA, const gtsam::Values valB){ + void setValAValB(const gtsam::Values& valA, const gtsam::Values& valB){ if ( (!valA.exists(keyA_)) && (!valB.exists(keyA_)) && (!valA.exists(keyB_)) && (!valB.exists(keyB_)) ) throw("something is wrong!"); diff --git a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h index 0411765e8..7a837b1b5 100644 --- a/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h +++ b/gtsam_unstable/slam/TransformBtwRobotsUnaryFactorEM.h @@ -77,7 +77,7 @@ namespace gtsam { /** Constructor */ TransformBtwRobotsUnaryFactorEM(Key key, const VALUE& measured, Key keyA, Key keyB, - const gtsam::Values valA, const gtsam::Values valB, + const gtsam::Values& valA, const gtsam::Values& valB, const SharedGaussian& model_inlier, const SharedGaussian& model_outlier, const double prior_inlier, const double prior_outlier, const bool flag_bump_up_near_zero_probs = false, @@ -132,7 +132,7 @@ namespace gtsam { /** implement functions needed to derive from Factor */ /* ************************************************************************* */ - void setValAValB(const gtsam::Values valA, const gtsam::Values valB){ + void setValAValB(const gtsam::Values& valA, const gtsam::Values& valB){ if ( (!valA.exists(keyA_)) && (!valB.exists(keyA_)) && (!valA.exists(keyB_)) && (!valB.exists(keyB_)) ) throw("something is wrong!");